Garcia-Peraza-Herrera, LC;
Li, W;
Fidon, L;
Gruijthuijsen, C;
Devreker, A;
Attilakos, G;
Deprest, J;
... Ourselin, S; + view all
(2017)
ToolNet: Holistically-Nested Real-Time Segmentation of Robotic Surgical Tools.
In: Bicchi, A and Okamura, A, (eds.)
Proceedings of 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
(pp. pp. 5717-5722).
IEEE: USA: New York.
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Abstract
Real-time tool segmentation from endoscopic videos is an essential part of many computer-assisted robotic surgical systems and of critical importance in robotic surgical data science. We propose two novel deep learning architectures for automatic segmentation of non-rigid surgical instruments. Both methods take advantage of automated deep-learningbased multi-scale feature extraction while trying to maintain an accurate segmentation quality at all resolutions. The two proposed methods encode the multi-scale constraint inside the network architecture. The first proposed architecture enforces it by cascaded aggregation of predictions and the second proposed network does it by means of a holistically-nested architecture where the loss at each scale is taken into account for the optimization process. As the proposed methods are for realtime semantic labeling, both present a reduced number of parameters. We propose the use of parametric rectified linear units for semantic labeling in these small architectures to increase the regularization of the network while maintaining the segmentation accuracy. We compare the proposed architectures against state-of-the-art fully convolutional networks. We validate our methods using existing benchmark datasets, including ex vivo cases with phantom tissue and different robotic surgical instruments present in the scene. Our results show a statistically significant improved Dice Similarity Coefficient over previous instrument segmentation methods. We analyze our design choices and discuss the key drivers for improving accuracy.
| Type: | Proceedings paper |
|---|---|
| Title: | ToolNet: Holistically-Nested Real-Time Segmentation of Robotic Surgical Tools |
| Event: | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 24-28 September 2017, Vancouver, British Columbia, Canada |
| Location: | Vancouver, CANADA |
| Dates: | 24 September 2017 - 28 September 2017 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/IROS.2017.8206462 |
| Publisher version: | https://doi.org/10.1109/IROS.2017.8206462 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Instruments, Robots, Image segmentation, Tools, Surgery, Real-time systems, Computer architecture |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/1560882 |
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